Combined heuristic task and motion planning for bi-manual robots

Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordi...

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Detalhes bibliográficos
Autores: Akbari, Aliakbar|||0000-0002-5290-9799, Lagriffoul, Fabien, Rosell Gratacòs, Jan|||0000-0003-4854-2370
Tipo de documento: artigo
Data de publicação:2018
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositório:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglês
OAI Identifier:oai:upcommons.upc.edu:2117/124820
Acesso em linha:https://hdl.handle.net/2117/124820
https://dx.doi.org/10.1007/s10514-018-9817-3
Access Level:Acceso aberto
Palavra-chave:Robot hands
Combined task and motion planning
Robot manipulation
Geometric reasoning
Path planning
Robots -- Disseny i construcció
Àrees temàtiques de la UPC::Informàtica::Robòtica
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network_name_str España
repository_id_str
spelling Combined heuristic task and motion planning for bi-manual robotsAkbari, Aliakbar|||0000-0002-5290-9799Lagriffoul, FabienRosell Gratacòs, Jan|||0000-0003-4854-2370Robot handsCombined task and motion planningRobot manipulationGeometric reasoningPath planningRobots -- Disseny i construccióÀrees temàtiques de la UPC::Informàtica::RobòticaPlanning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordingly, a heuristic-based task and motion planning approach is proposed, in which the computation of the heuristic addresses a geometrically relaxed problem, i.e., it only reasons upon objects placements, grasp poses, and inverse kinematics solutions. Motion paths are evaluated lazily, i.e., only after an action has been selected by the heuristic. This reduces the number of calls to the motion planner, while backtracking is reduced because the heuristic captures most of the geometric constraints. The approach has been validated in simulation and on a real robot, with different classes of table-top manipulation problems. Empirical comparison with recent approaches solving similar problems is also reported, showing that the proposed approach results in significant improvement both in terms of planing time and success rate.Peer Reviewed20192019-08-0120182018-11-21journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/124820https://dx.doi.org/10.1007/s10514-018-9817-3reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1248202026-05-27T15:37:01Z
dc.title.none.fl_str_mv Combined heuristic task and motion planning for bi-manual robots
title Combined heuristic task and motion planning for bi-manual robots
spellingShingle Combined heuristic task and motion planning for bi-manual robots
Akbari, Aliakbar|||0000-0002-5290-9799
Robot hands
Combined task and motion planning
Robot manipulation
Geometric reasoning
Path planning
Robots -- Disseny i construcció
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Combined heuristic task and motion planning for bi-manual robots
title_full Combined heuristic task and motion planning for bi-manual robots
title_fullStr Combined heuristic task and motion planning for bi-manual robots
title_full_unstemmed Combined heuristic task and motion planning for bi-manual robots
title_sort Combined heuristic task and motion planning for bi-manual robots
dc.creator.none.fl_str_mv Akbari, Aliakbar|||0000-0002-5290-9799
Lagriffoul, Fabien
Rosell Gratacòs, Jan|||0000-0003-4854-2370
author Akbari, Aliakbar|||0000-0002-5290-9799
author_facet Akbari, Aliakbar|||0000-0002-5290-9799
Lagriffoul, Fabien
Rosell Gratacòs, Jan|||0000-0003-4854-2370
author_role author
author2 Lagriffoul, Fabien
Rosell Gratacòs, Jan|||0000-0003-4854-2370
author2_role author
author
dc.subject.none.fl_str_mv Robot hands
Combined task and motion planning
Robot manipulation
Geometric reasoning
Path planning
Robots -- Disseny i construcció
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robot hands
Combined task and motion planning
Robot manipulation
Geometric reasoning
Path planning
Robots -- Disseny i construcció
Àrees temàtiques de la UPC::Informàtica::Robòtica
description Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordingly, a heuristic-based task and motion planning approach is proposed, in which the computation of the heuristic addresses a geometrically relaxed problem, i.e., it only reasons upon objects placements, grasp poses, and inverse kinematics solutions. Motion paths are evaluated lazily, i.e., only after an action has been selected by the heuristic. This reduces the number of calls to the motion planner, while backtracking is reduced because the heuristic captures most of the geometric constraints. The approach has been validated in simulation and on a real robot, with different classes of table-top manipulation problems. Empirical comparison with recent approaches solving similar problems is also reported, showing that the proposed approach results in significant improvement both in terms of planing time and success rate.
publishDate 2018
dc.date.none.fl_str_mv 2018
2018-11-21
2019
2019-08-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/124820
https://dx.doi.org/10.1007/s10514-018-9817-3
url https://hdl.handle.net/2117/124820
https://dx.doi.org/10.1007/s10514-018-9817-3
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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